A 42-year-old Ledyard man with a lengthy criminal history was arraigned Wednesday on charges that he robbed the CVS drugstore in New London Sunday.

Pedro L. Madera Jr. was charged with third-degree robbery and sixth-degree larceny. He was also charged with failure to appear in court and violation of probation on unrelated charges.

Madera has several prior convictions, including robberies in 1989 and 1992 and second-degree sexual assault in 2004, according to Bail Commissioner Tim Gilman.

Judge John J. Nazzaro set Madera’s bond at $110,000, saying he is a danger to the community, the state has a strong case against him and he has a history of failing to appear in court.

According to city police, Madera entered the Bank Street store and handed a clerk a note demanding that she empty her drawer of “just bills” without making any noise. The note was written on a receipt from the Pump N Munch gas station across the street. The clerk said she complied because Madera had his right hand in his jacket pocket and she was scared.

Madera fled the store with about $80.

Detective Keith Crandall said police recovered video of the incident from the pharmacy and gas station and obtained an additional description of the suspect from the clerk and from a CVS manager who watched the robber enter and exit the store while sitting in his car during his lunch break.

On Tuesday, Sgt. George Potts came across Madera while on routine patrol and recognized the red-and-black hooded sweatshirt from the video, according to police. Potts learned Madera was wanted on other charges and took him into custody.

Police said they added the robbery charges after the store clerk identified Madera in a photo array of potential suspects.